Quality Report

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Summary

Project voo_km49_v01
Processed 2017-06-19 13:34:23
Camera Model Name(s) FC300X_3.6_4000x3000 (RGB)
Average Ground Sampling Distance (GSD) 3.4 cm / 1.34 in
Time for Initial Processing (without report) 51m:32s

Quality Check

Images median of 47585 keypoints per image

Dataset 321 out of 331 images calibrated (96%), all images enabled

Camera Optimization 3.03% relative difference between initial and optimized internal camera parameters

Matching median of 18202.8 matches per calibrated image

Georeferencing yes, no 3D GCP

Calibration Details
Number of Calibrated Images 321 out of 331
Number of Geolocated Images 331 out of 331

Initial Image Positions

 Figure 2: Top view of the initial image position. The green line follows the position of the images in time starting from the large blue dot.

Computed Image/GCPs/Manual Tie Points Positions

Uncertainty ellipses 5x magnified
Figure 3: Offset between initial (blue dots) and computed (green dots) image positions as well as the offset between the GCPs initial positions (blue crosses) and
their computed positions (green crosses) in the top-view (XY plane), front-view (XZ plane), and side-view (YZ plane). Red dots indicate disabled or uncalibrated
images. Dark green ellipses indicate the absolute position uncertainty of the bundle block adjustment result.

Absolute camera position and orientation uncertainties

X [m]Omega Y [m] Z [m] Phi Kappa Camera Camera Camera

[degree] [degree] [degree] Displacement X [m] Displacement Y [m] Displacement Z [m]
Mean 0.664 0.632 1.250 0.606 0.450 0.510 0.042 0.040 0.071
Sigma 0.124 0.125 0.297 0.168 0.100 0.296 0.020 0.028 0.055

Bundle Block Adjustment Details

Number of 2D Keypoint Observations for Bundle Block Adjustment 5771836
Number of 3D Points for Bundle Block Adjustment 1976283
Mean Reprojection Error [pixels] 0.218

Internal Camera Parameters

FC300X_3.6_4000x3000 (RGB). Sensor Dimensions: 6.317 [mm] x 4.738 [mm]

EXIF ID: FC300X_3.6_4000x3000

Focal Principal Principal R1 R2 R3 T1 T2

Length Point x Point y
Initial Values 2249.023 [pixel] 1876.805 [pixel] 1421.314 [pixel] -0.014 0.013 -0.000 0.001 0.000
3.552 [mm] 2.964 [mm] 2.245 [mm]
Optimized Values 2317.216 [pixel] 1983.468 [pixel] 1450.668 [pixel] -0.011 0.011 0.005 -0.001 0.000
3.660 [mm] 3.133 [mm] 2.291 [mm]
Uncertainties (Sigma) 0.950 [pixel] 0.604 [pixel] 1.093 [pixel] 0.000 0.001 0.001 0.000 0.000
0.002 [mm] 0.001 [mm] 0.002 [mm]
Correlated

F
C0x

C0y
The correlation between camera internal parameters
R1 determined by the bundle adjustment. White indicates a full
correlation between the parameters, ie. any change in one can
be fully compensated by the other. Black indicates that the
R2 parameter is completely independent, and is not affected by
other parameters.

R3
Independent

T1

T2

The number of Automatic Tie Points (ATPs) per pixel, averaged over all images of the camera model,
is color coded between black and white. White indicates that, on average, more than 16 ATPs have
been extracted at the pixel location. Black indicates that, on average, 0 ATPs have been extracted at
the pixel location. Click on the image to the see the average direction and magnitude of the re-
projection error for each pixel. Note that the vectors are scaled for better visualization. The scale bar
indicates the magnitude of 1 pixel error.
 2D Keypoints Table

Number of 2D Keypoints per Image Number of Matched 2D Keypoints per Image

Median 47585 18203
Min 24546 224
Max 69349 33915
Mean 48902 17981

3D Points from 2D Keypoint Matches

Number of 3D Points Observed

In 2 Images 1308688
In 3 Images 333800
In 4 Images 134895
In 5 Images 66293
In 6 Images 38207
In 7 Images 23772
In 8 Images 16060
In 9 Images 11527
In 10 Images 8321
In 11 Images 6335
In 12 Images 4961
In 13 Images 3874
In 14 Images 3156
In 15 Images 2518
In 16 Images 2178
In 17 Images 1782
In 18 Images 1513
In 19 Images 1232
In 20 Images 1018
In 21 Images 843
In 22 Images 731
In 23 Images 610
In 24 Images 529
In 25 Images 400
In 26 Images 374
In 27 Images 293
In 28 Images 282
In 29 Images 216
In 30 Images 231
In 31 Images 171
In 32 Images 161
In 33 Images 138
In 34 Images 114
In 35 Images 105
In 36 Images 94
In 37 Images 88
In 38 Images 90
In 39 Images 68
In 40 Images 68
In 41 Images 63
In 42 Images 67
In 43 Images 33
In 44 Images 46
In 45 Images 42
In 46 Images 31
In 47 Images 29
In 48 Images 24
In 49 Images 34
In 50 Images 24
In 51 Images 26
In 52 Images 21
In 53 Images 22
In 54 Images 13
In 55 Images 12
In 56 Images 10
In 57 Images 15
In 58 Images 9
In 59 Images 9
In 60 Images 5
In 61 Images 2
In 62 Images 2
In 63 Images 2
In 65 Images 1
In 66 Images 1
In 67 Images 1
In 70 Images 2
In 72 Images 1

2D Keypoint Matches
 Uncertainty ellipses 50x magnified
Number of matches
 25 222 444 666 888 1111 1333 1555 1777 2000
Figure 5: Computed image positions with links between matched images. The darkness of the links indicates the number of matched 2D keypoints between the
images. Bright links indicate weak links and require manual tie points or more images. Dark green ellipses indicate the relative camera position uncertainty of the
bundle block adjustment result.

Relative camera position and orientation uncertainties

X [m] Y [m]Omega
Z [m] Phi Kappa Camera Camera Camera
[degree] [degree] [degree] Displacement X [m] Displacement Y [m] Displacement Z [m]
Mean 0.075 0.087 0.056 0.085 0.061 0.072 0.042 0.040 0.071
Sigma 0.049 0.064 0.031 0.045 0.042 0.048 0.020 0.028 0.055

Geolocation Details

Absolute Geolocation Variance

Min Error [m] Max Error [m] Geolocation Error X [%] Geolocation Error Y [%] Geolocation Error Z [%]
- -15.00 0.00 0.00 0.00
-15.00 -12.00 0.00 0.00 0.00
-12.00 -9.00 0.00 0.00 0.00
-9.00 -6.00 0.00 3.74 0.62
-6.00 -3.00 4.98 9.03 23.05
-3.00 0.00 37.07 25.23 16.51
0.00 3.00 57.63 55.14 52.65
3.00 6.00 0.31 4.67 7.17
6.00 9.00 0.00 2.18 0.00
9.00 12.00 0.00 0.00 0.00
12.00 15.00 0.00 0.00 0.00
15.00 - 0.00 0.00 0.00
Mean [m] -0.000000 -0.000000 -0.000010
Sigma [m] 1.336714 2.612711 3.020198
RMS Error [m] 1.336714 2.612711 3.020198

Min Error and Max Error represent geolocation error intervalsbetween -1.5 and 1.5 times the maximum accuracy of all the images. Columns X, Y, Z show the
percentage of images with geolocation errors within the predefined error intervals. The geolocation error is the difference between the intial and computed image
positions. Note that the image geolocation errors do not correspond to the accuracy of the observed 3D points.

Relative Geolocation Variance

Relative Geolocation Error Images X [%] Images Y [%] Images Z [%]

[-1.00, 1.00] 100.00 89.10 100.00
[-2.00, 2.00] 100.00 100.00 100.00
[-3.00, 3.00] 100.00 100.00 100.00
Mean of Geolocation Accuracy [m] 5.000000 5.000000 10.000000
Sigma of Geolocation Accuracy [m] 0.000000 0.000000 0.000000

Images X, Y, Z represent the percentage of images with a relative geolocation error in X, Y, Z.

Geolocation Orientational Variance RMS [degree]

Omega 4.746
Phi 4.480
Kappa 6.438
 Geolocation RMS error of the orientation angles given by the difference between the initial and computed image orientation angles.

Rolling Shutter Statistics

 Figure 6: Camera movement estimated by the rolling shutter camera model. The green line follows the computed image positions. The blue dots represent the
camera position at the start of the exposure. The blue lines represent the camera motion during the rolling shutter readout, re-scaled by a project dependant scaling
factor for better visibility.

Median Camera Speed 6.3481 [m/s]

Median Camera Displacement During Sensor Readout) 0.3099 [m]
Median Rolling Shutter Readout Time 52.7342 [ms]

Initial Processing Details

System Information

CPU: Intel(R) Core(TM) i7-4790 CPU @ 3.60GHz

Hardware RAM: 32GB
GPU: NVIDIA GeForce GTX 950 (Driver: 10.18.13.6451), Intel(R) HD Graphics 4600 (Driver: 10.18.10.3540), RDPDD Chained DD
(Driver: unknown), RDP Encoder Mirror Driver (Driver: unknown), RDP Reflector Display Driver (Driver: unknown)
Operating Windows 7 Professional, 64-bit
System

Coordinate Systems

Image Coordinate System WGS84 (egm96)

Output Coordinate System WGS84 / UTM zone 23S (egm96)

Processing Options

Detected Template 3D Models

Keypoints Image Scale Full, Image Scale: 1
Advanced: Matching Image Pairs Free Flight or Terrestrial
Advanced: Matching Strategy Use Geometrically Verified Matching: no
Advanced: Keypoint Extraction Targeted Number of Keypoints: Automatic
Calibration Method: Standard
Internal Parameters Optimization: All
Advanced: Calibration External Parameters Optimization: All
Lever-Arm Parameters Optimization: None
Rematch: Auto, yes
Bundle Adjustment: Classic

Point Cloud Densification details

Processing Options

Image Scale multiscale, 1/2 (Half image size, Default)

Point Density Optimal
 Minimum Number of Matches 3
3D Textured Mesh Generation yes
3D Textured Mesh Settings: Resolution: Medium Resolution (default)
Color Balancing: no
Advanced: 3D Textured Mesh Settings Sample Density Divider: 1
Advanced: Matching Window Size 9x9 pixels
Advanced: Image Groups group1
Advanced: Use Processing Area yes
Advanced: Use Annotations yes
Advanced: Limit Camera Depth Automatically yes
Time for Point Cloud Densification 02h:21s
Time for 3D Textured Mesh Generation 17m:09s

Results

Number of Generated Tiles 1

Number of 3D Densified Points 20137792
Average Density (per m3) 84.25

DSM, Orthomosaic and Index Details

Processing Options

DSM and Orthomosaic Resolution 1 x GSD (3.41 [cm/pixel])

DSM Filters Noise Filtering: yes
Surface Smoothing: yes, Type: Sharp
Generated: yes
Raster DSM Method: Inverse Distance Weighting
Merge Tiles: yes
Generated: yes
Orthomosaic Merge Tiles: yes
GeoTIFF Without Transparency: no
Google Maps Tiles and KML: no
Time for DSM Generation 19m:25s
Time for Orthomosaic Generation 01h:33m:37s